CN113954059B - Multidirectional electric transfer arm - Google Patents

Multidirectional electric transfer arm Download PDF

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Publication number
CN113954059B
CN113954059B CN202111382146.3A CN202111382146A CN113954059B CN 113954059 B CN113954059 B CN 113954059B CN 202111382146 A CN202111382146 A CN 202111382146A CN 113954059 B CN113954059 B CN 113954059B
Authority
CN
China
Prior art keywords
transfer arm
electric transfer
mounting bracket
slide rail
screw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111382146.3A
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Chinese (zh)
Other versions
CN113954059A (en
Inventor
陈建华
贺新山
胡春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Jinggong Integrated Technology Co ltd
Original Assignee
Zhejiang Jinggong Integrated Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Jinggong Integrated Technology Co ltd filed Critical Zhejiang Jinggong Integrated Technology Co ltd
Priority to CN202111382146.3A priority Critical patent/CN113954059B/en
Publication of CN113954059A publication Critical patent/CN113954059A/en
Application granted granted Critical
Publication of CN113954059B publication Critical patent/CN113954059B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0047Gripping heads and other end effectors for internally gripping hollow or recessed objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008Balancing devices
    • B25J19/0012Balancing devices using fluidic devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Abstract

A multidirectional electric transfer arm, which belongs to the technical field of electric transfer arm equipment; including vertical support, its characterized in that: the top of the longitudinal stand is provided with power equipment, the left side and the right side of the longitudinal stand are provided with side sliding grooves, the front of the longitudinal stand is provided with a front sliding rail, the front sliding rail is provided with a first mounting frame and a second mounting frame respectively, the front sliding rail is provided with a plurality of sliding blocks, and the first mounting frame and the second mounting frame are connected to the front sliding rail through the sliding blocks in a sliding manner; according to the invention, through the arrangement of the longitudinal stand, the power screw rod arranged in the longitudinal stand drives the first mounting frames connected with the first mounting frames at two sides through the screw rod nut and the nut sleeve to move up and down, and the first mounting frames are connected with the electric transfer arm, so that the electric transfer arm can move up and down to clamp materials and then lift off the ground for collection.

Description

Multidirectional electric transfer arm
Technical Field
The invention belongs to the technical field of transfer arm equipment, and particularly relates to a multidirectional electric transfer arm.
Background
The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the mechanical arm is widely applied to the fields of industrial assembly, safety explosion prevention and the like, and is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists. Therefore, the modeling model of the mechanical arm also has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the end pose is formed in a cascading way.
In the process of carrying the large-sized wire ingots inside, the wire yarns are easily damaged due to the fact that the surface of the wire ingots are stressed and carried, but manual carrying is quite laborious and time-consuming, and meanwhile, when the wire ingots need to be fed, the wire ingots cannot be effectively operated in a labor-saving mode, so that the electric transfer arm is invented.
Disclosure of Invention
The invention mainly solves the technical problems in the prior art and provides a multidirectional electric transfer arm.
The technical problems of the invention are mainly solved by the following technical proposal: the utility model provides a multidirectional electronic arm that moves, includes vertical grudging post, its characterized in that: the top of the vertical stand is provided with power equipment, the left side and the right side of the vertical stand are provided with side sliding grooves, the front of the vertical stand is provided with a front sliding rail, the front sliding rail is respectively provided with a first mounting rack and a second mounting rack, the front sliding rail is provided with a plurality of sliding blocks, the first mounting rack and the second mounting rack are in sliding connection with the front sliding rail through the sliding blocks, the front of the sliding blocks, the first mounting rack and the second mounting rack are provided with mounting panels, the front sliding rail is as high as the vertical stand, the front sliding rail is in sliding connection with an electric transfer arm, the electric transfer arm comprises a first protection box, a rotary connecting shaft and a second protection box, the back of the second protection box is respectively provided with a first fixing rack and a second fixing rack, the second fixing rack is positioned below the first fixing rack, the top and the side of the second protection box are both provided with equipment joints, the back of the first fixing frame is provided with a plurality of ball cages, the bottom of each ball cage is correspondingly provided with a second balance cylinder, the output end of the second balance cylinder is connected with the back of the second fixing frame, the front of the second fixing frame is connected with a connecting air pipe, the output end of the connecting air pipe is provided with an air expansion shaft, the bottom of the second protection box is provided with an upper pressure control seat and a lower pressure control seat, the bottom of the upper pressure control seat and the lower pressure control seat are mutually overlapped with the connecting air pipe, the front end of the middle part of the air expansion shaft is provided with a camera, the back of the electric transfer arm is respectively connected with a sliding block, a first mounting frame and a second mounting frame from top to bottom, the back of the longitudinal stand is provided with a back sliding rail, the back sliding rail is halved to be positioned below the back of the longitudinal stand, the top of the back sliding rail is provided with a bracket, the top of bracket is provided with the block terminal, the back of bracket below is provided with the image screen, be provided with operating panel and operation handle on the back slide rail respectively, the bottom of vertical grudging post is provided with the base, the left and right sides of the top of base all is provided with lead screw stop device, two lead screw stop device is located the side spout bottom of both sides respectively, the top and the bottom of vertical grudging post one side all are provided with travel switch.
Preferably, the power equipment comprises a first servo motor and a power screw, the first servo motor is connected to the top of the back of the longitudinal stand, the power screw is arranged in the longitudinal stand and is rotationally connected to the base, the output end of the first servo motor is arranged upwards, and a transmission belt pulley group is sleeved between the output end of the first servo motor and the top of the power screw.
Preferably, the power screw is sleeved with a screw nut, the screw nut is sleeved with a nut sleeve, sliding sheets are arranged on the left side and the right side of the nut sleeve, extend to the outside of the longitudinal vertical frame through side sliding grooves and are connected with the left side and the right side of the first mounting frame, a fixing seat is arranged on the first mounting frame, and the sliding sheets are fixedly connected with the first mounting frame through the fixing seat.
Preferably, the top of the left side and the right side of the first installation frame are respectively provided with a first hinge bracket, a first balance cylinder is hinged on the first hinge bracket, and the output end of the first balance cylinder is vertically downwards fixedly inserted with the side surface of the second installation frame through a screw.
Preferably, the rotary connecting shaft is used for connecting a first protection box and a second protection box, a second servo motor is arranged on the right side of the first protection box, a turbine speed reducer is arranged at the output end of the second servo motor, the turbine speed reducer is arranged in the first protection box, the output end of the turbine speed reducer is connected with the rotary connecting shaft, an equipment box is arranged on the left side of the first protection box, and the back of the first protection box is connected with the sliding block, the first installation frame and the second installation frame respectively.
Preferably, two side connecting strips are arranged on the left side and the right side of the longitudinal stand, the two side connecting strips are correspondingly arranged on the two sides of the side chute, and brushes are arranged on the opposite sides of the two side connecting strips on the same side.
Preferably, a bottom drag chain fixing frame is arranged at the top of one side of the back surface of the electric transfer arm, and a top drag chain fixing frame is arranged below the distribution box.
The invention has the beneficial effects that: the electric transfer arm can be arranged through the longitudinal stand, and the power screw arranged in the longitudinal stand drives the two sides to be connected with the first mounting frame through the screw nut and the nut sleeve to move up and down, and the first mounting frame is connected with the electric transfer arm, so that the electric transfer arm can move up and down to be used for clamping materials and then lift away from the ground to be collected, then the front side of the longitudinal stand is provided with the front side sliding rail, the electric transfer arm is used for sliding up and down on the front side sliding rail, so that the electric transfer arm can conveniently limit the wires, and is smoother when moving up and down, then a first balance cylinder is arranged between the first mounting frame and the second mounting frame, the electric transfer arm can be used for slowing down the downward pressure caused by the electric transfer arm in the up-down lifting process through the first balance cylinder, then the electric transfer arm can rotate through the second servo motor on one side and the turbine speed reducer, so that the second box below can rotate through the rotary connecting shaft, the air expansion shaft on the output end of the second box can clamp the wire spindle, and the middle part of the output end of the air expansion shaft is provided with the protective head, so that the wire spindle can be stably controlled through the second balance and the two balance shafts when the wire spindle is more stably observed, and the two balance shafts are mutually connected with the second balance cylinders, and the two balance cylinders are arranged at the back side of the second balance cylinder.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a rear structure of the present invention;
FIG. 3 is a schematic perspective view of an electric transfer arm according to the present invention;
FIG. 4 is a schematic perspective view of a portion of the electric transfer arm of the present invention;
FIG. 5 is a schematic view of a combined three-dimensional structure of the longitudinal stand of the present invention;
FIG. 6 is a schematic view of a split perspective of a longitudinal stand according to the present invention;
fig. 7 is an enlarged schematic view of the structure at a in fig. 5.
In the figure: 1. a longitudinal stand; 11. a side chute; 12. a side connecting bar; 13. a brush; 14. a distribution box; 15. a base; 161. a bottom drag chain fixing frame; 162. a top drag chain mount; 17. a front slide rail; 18. installing a panel; 19. a slide block; 110. a first mounting frame; 111. a second mounting frame; 112. a first hinge bracket; 113. a first balance cylinder; 114. a back slide rail; 115. a bracket; 2. a power plant; 21. a first servo motor; 22. a drive pulley set; 23. a power screw; 24. a lead screw nut; 25. a nut sleeve; 26. a fixing seat; 27. a sliding sheet; 3. a screw limit device; 31. a telescopic cylinder; 32. a connecting sheet; 33. a brake head; 41. an image screen; 42. an operation panel; 43. operating the grip; 5. an electric transfer arm; 51. a first protection box; 52. an equipment box; 53. a turbine speed reducer; 55. a second servo motor; 56. a rotary connecting shaft; 57. a second protection box; 58. a device connector; 59. a first fixing frame; 510. a ball cage; 511. a second balancing cylinder; 512. the second fixing frame; 513. an upper pressure control seat and a lower pressure control seat; 514. connecting an air pipe; 515. an air expansion shaft; 516. a camera; 6. and a travel switch.
Description of the embodiments
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples: 1-7, including a longitudinal stand 1, a power device 2 is arranged at the top of the longitudinal stand 1, side sliding grooves 11 are arranged at the left and right sides of the longitudinal stand 1, a front sliding rail 17 is arranged on the front of the longitudinal stand 1, a first mounting frame 110 and a second mounting frame 111 are respectively arranged on the front sliding rail 17, a plurality of sliding blocks 19 are arranged on the front sliding rail 17, the first mounting frame 110 and the second mounting frame 111 are connected on the front sliding rail 17 in a sliding manner through the sliding blocks 19, mounting panels 18 are arranged on the front of the sliding blocks 19, the first mounting frame 110 and the second mounting frame 111, the front sliding rail 17 is equal to the longitudinal stand 1 in height, an electric transfer arm 5 is connected on the front sliding rail 17 in a sliding manner, the back of the electric transfer arm 5 is respectively connected with the sliding blocks 19, the first mounting frame 110 and the second mounting frame 111 from top to bottom, the back of vertical support 1 is provided with back slide rail 114, back slide rail 114 highly halved is located the back below of vertical support 1, the top of back slide rail 114 is provided with bracket 115, the top of bracket 115 is provided with block terminal 14, the back of bracket 115 below is provided with image screen 41, be provided with operating panel 42 and operating handle 43 on the back slide rail 114 respectively, operating panel 42 and operating handle 43 are with human general height level, thereby make things convenient for the workman to operate, the bottom of vertical support 1 is provided with base 15, the left and right sides of the top of base 15 all is provided with lead screw stop device 3, two lead screw stop device 3 are located the side spout 11 bottom of both sides respectively, the top and the bottom of vertical support 1 one side all are provided with travel switch 6.
The power equipment 2 comprises a first servo motor 21 and a power screw 23, the first servo motor 21 is connected to the top of the back of the longitudinal vertical frame 1, the power screw 23 is arranged in the longitudinal vertical frame 1 and is rotationally connected to the base 15, the output end of the first servo motor 21 is arranged upwards, a transmission belt pulley group 22 is sleeved between the output end of the first servo motor 21 and the top of the power screw 23, a screw nut 24 is sleeved on the power screw 23, a nut sleeve 25 is sleeved on the screw nut 24, sliding vanes 27 are respectively arranged on the left side and the right side of the nut sleeve 25, the sliding vanes 27 extend to the outside of the longitudinal vertical frame 1 through side sliding grooves 11 and are connected with the left side and the right side of the first installation frame 110, a fixed seat 26 is arranged on the first installation frame 110, the sliding vanes 27 are fixedly connected with the first installation frame 110 through the fixed seat 26, a first hinge bracket 112 is arranged at the top of the left side and the right side of the first installation frame 110, a first balance cylinder 113 is hinged on the first hinge bracket 112, and the output end of the first balance cylinder 113 is vertically downwards connected with the side of the second installation frame 111 through screw fixing and inserting connection.
The electric transfer arm 5 comprises a first protection box 51, a rotary connecting shaft 56 and a second protection box 57, wherein the rotary connecting shaft 56 is used for connecting the first protection box 51 and the second protection box 57, a second servo motor 55 is arranged on the right side of the first protection box 51, a turbine speed reducer 53 is arranged at the output end of the second servo motor 55, the turbine speed reducer 53 is arranged in the first protection box 51, the output end of the turbine speed reducer 53 is mutually connected with the rotary connecting shaft 56, an equipment box 52 is arranged on the left side of the first protection box 51, the back surface of the first protection box 51 is respectively mutually connected with a sliding block 19, a first mounting rack 110 and a second mounting rack 111, a first fixing rack 59 and a second fixing rack 512 are respectively arranged on the back surface of the second protection box 57, the second mount 512 is located the below of first mount 59, the top and the side of second guard box 57 all are provided with equipment joint 58, the back of first mount 59 is provided with many ball cages 510, the bottom of every ball cage 510 corresponds and is provided with second balance cylinder 511, the output of second balance cylinder 511 and the back interconnect of second mount 512, the front of second mount 512 is connected with connection trachea 514, be provided with inflatable shaft 515 on the output of connection trachea 514, the bottom of second guard box 57 is provided with about accuse pressure seat 513, the bottom of about accuse pressure seat 513 overlaps each other with connection trachea 514, the front end at inflatable shaft 515 middle part is provided with camera 516.
The left and right sides of vertical support 1 all is provided with two side connecting strips 12, and two side connecting strips 12 correspond the both sides that set up in side spout 11, and the one side that two side connecting strips 12 of homonymy are opposite to each other all is provided with brush 13, and the one side top at the electronic arm 5 back of moving is provided with bottom tow chain mount 161, and the below of block terminal 14 is provided with top tow chain mount 162.
The principle of the invention is as follows: when the spindle below needs to be clamped and moved, a KBK track component used for moving back and forth and left and right is arranged at the top of the device, a worker holds an operation handle 43 to control an operation panel 42 to operate, a power device 2 positioned at the top is started at the moment, a first servo motor 21 drives a transmission belt pulley group 22 at an output end to drive a power screw 23 to start rotating, the power screw 23 drives a screw nut 24 and a nut sleeve 25 sleeved on the surface to move up and down, when the screw nut 24 moves up and down, a connecting piece 32 connected to the left side and the right side and a first mounting frame 110 are driven to synchronously move up and down, when the first mounting frame 110 moves up and down, a first balance cylinder 113 connected to the two sides and a second mounting frame 111 below are controlled to slow down jitter and offset caused during the up and down movement, then a camera 516 on the output end of the air inflation shaft 515 is controlled to observe the position of the spindle below, accordingly, the air inflation shaft 515 is controlled to be inserted in a middle shaft of the spindle, the air inflation shaft 515 works to expand and clamp the spindle, the connecting piece 32 is connected to the first mounting frame 51 is driven to drive a second spindle 55 positioned at one side to rotate, and the spindle position of the spindle is controlled to start rotating correspondingly, and the spindle can be moved up and moved to the spindle position of the spindle is controlled to be parallel to the spindle position.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the invention is not limited to the above-described embodiments, but many variations are possible. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention should be considered to be within the scope of the present invention.

Claims (7)

1. The utility model provides a multidirectional electronic arm that moves, includes vertical grudging post (1), its characterized in that: the top of vertical support (1) is provided with power equipment (2), side runner (11) have all been seted up to the left and right sides of vertical support (1), the front of vertical support (1) is provided with front slide rail (17), be provided with first mounting bracket (110) and second mounting bracket (111) on front slide rail (17) respectively, be provided with a plurality of sliders (19) on front slide rail (17), first mounting bracket (110) and second mounting bracket (111) pass through slider (19) sliding connection on front slide rail (17), the front of slider (19), first mounting bracket (110) and second mounting bracket (111) all is provided with mounting panel (18), front slide rail (17) are high with vertical support (1) etc. front slide rail (17) are last to be connected with electric power transfer arm (5), electric power transfer arm (5) are including first protection case (51), swivelling joint axle (56) and second protection case (57), the back of second protection case (57) is provided with first protection case (59) and second protection case (59) respectively, first mount (59) are located down in top (512) and mount (59) are located respectively, the utility model discloses a portable electronic device, including first mount (59) and second mount, the back of first mount (59) is provided with a plurality of ball cages (510), every the bottom of ball cage (510) corresponds to be provided with second balance cylinder (511), the output of second balance cylinder (511) and the back interconnect of second mount (512), the front of second mount (512) is connected with connecting air pipe (514), be provided with on the output of connecting air pipe (514) and breathe freely axle (515), the bottom of second guard box (57) is provided with upper and lower accuse pressure seat (513), the bottom of upper and lower accuse pressure seat (513) and connecting air pipe (514) overlap each other, the front end at the middle part of air-swell axle (515) is provided with camera (516), electric transfer arm (5) the back from top to bottom be connected with slider (19), first mounting bracket (110) and second mounting bracket (111) respectively, the back of vertical stand (1) is provided with back slide rail (114), back slide rail (114) highly reduces half in the back below vertical stand (1), the back slide rail (114) is provided with back (115), the top (115) is provided with bracket (115), the novel vertical support is characterized in that an operation panel (42) and an operation handle (43) are respectively arranged on the back sliding rail (114), a base (15) is arranged at the bottom of the vertical support (1), screw rod limiting devices (3) are respectively arranged on the left side and the right side of the upper portion of the base (15), the two screw rod limiting devices (3) are respectively arranged at the bottommost ends of side sliding grooves (11) on the two sides, and travel switches (6) are respectively arranged at the top and the bottom of one side of the vertical support (1).
2. The multi-directional electric transfer arm of claim 1, wherein: the power equipment (2) comprises a first servo motor (21) and a power screw (23), wherein the first servo motor (21) is connected to the top of the back of the longitudinal stand (1), the power screw (23) is arranged inside the longitudinal stand (1) and is rotationally connected to the base (15), the output end of the first servo motor (21) is arranged upwards, and a transmission belt wheel set (22) is sleeved between the output end of the first servo motor (21) and the top of the power screw (23).
3. The multi-directional electric transfer arm of claim 2, wherein: the utility model discloses a power lead screw, including power lead screw (23), screw nut (24) have been cup jointed on screw nut (24), the left and right sides of screw nut (25) all is provided with gleitbretter (27), gleitbretter (27) are through side spout (11) to vertical riser (1) outside extension to with the left and right sides interconnect of first mounting bracket (110), be provided with fixing base (26) on first mounting bracket (110), gleitbretter (27) are through fixing base (26) and first mounting bracket (110) each other fixed connection.
4. A multi-directional electric transfer arm as claimed in claim 3, wherein: the top of the left side and the right side of the first installation frame (110) are respectively provided with a first hinge bracket (112), a first balance cylinder (113) is hinged on the first hinge bracket (112), and the output end of the first balance cylinder (113) is vertically downwards fixedly inserted with the side surface of the second installation frame (111) through a screw.
5. The multi-directional electric transfer arm of claim 1, wherein: the rotary connecting shaft (56) is used for connecting a first protection box (51) and a second protection box (57), a second servo motor (55) is arranged on the right side of the first protection box (51), a turbine speed reducer (53) is arranged at the output end of the second servo motor (55), the turbine speed reducer (53) is arranged in the first protection box (51), the output end of the turbine speed reducer (53) is connected with the rotary connecting shaft (56) mutually, an equipment box (52) is arranged on the left side of the first protection box (51), and the back of the first protection box (51) is connected with a sliding block (19), a first installation frame (110) and a second installation frame (111) respectively.
6. The multi-directional electric transfer arm of claim 1, wherein: the left side and the right side of the longitudinal stand (1) are respectively provided with two side connecting strips (12), the two side connecting strips (12) are correspondingly arranged on the two sides of the side chute (11), and the opposite sides of the two side connecting strips (12) on the same side are respectively provided with a hairbrush (13).
7. The multi-directional electric transfer arm of claim 1, wherein: the top of one side of the back of the electric transfer arm (5) is provided with a bottom drag chain fixing frame (161), and the lower part of the distribution box (14) is provided with a top drag chain fixing frame (162).
CN202111382146.3A 2021-11-22 2021-11-22 Multidirectional electric transfer arm Active CN113954059B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111382146.3A CN113954059B (en) 2021-11-22 2021-11-22 Multidirectional electric transfer arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111382146.3A CN113954059B (en) 2021-11-22 2021-11-22 Multidirectional electric transfer arm

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Publication Number Publication Date
CN113954059A CN113954059A (en) 2022-01-21
CN113954059B true CN113954059B (en) 2023-11-03

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115847482A (en) * 2023-03-08 2023-03-28 无锡黎曼机器人科技有限公司 Z-axis double-drive telescopic mechanism for carrying heavy-load truss by engine cylinder body and cylinder cover

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08150591A (en) * 1994-11-28 1996-06-11 Meidensha Corp Industrial robot
KR20130005146A (en) * 2011-07-05 2013-01-15 주식회사 에스엠이씨 Single-arm type cassette lifting robot
CN105108743A (en) * 2015-09-09 2015-12-02 哈尔滨展达机器人自动化有限责任公司 Double-arm manipulator used for spindle stacking
CN209050745U (en) * 2018-10-09 2019-07-02 浙江精功机器人智能装备有限公司 A kind of nested type synchronization belt wheel transmission structure for six-shaft industrial robot
CN111571575A (en) * 2020-05-30 2020-08-25 晋江市阳光汽车配件有限公司 Long-rod thread rolling and feeding single-arm double-manipulator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08150591A (en) * 1994-11-28 1996-06-11 Meidensha Corp Industrial robot
KR20130005146A (en) * 2011-07-05 2013-01-15 주식회사 에스엠이씨 Single-arm type cassette lifting robot
CN105108743A (en) * 2015-09-09 2015-12-02 哈尔滨展达机器人自动化有限责任公司 Double-arm manipulator used for spindle stacking
CN209050745U (en) * 2018-10-09 2019-07-02 浙江精功机器人智能装备有限公司 A kind of nested type synchronization belt wheel transmission structure for six-shaft industrial robot
CN111571575A (en) * 2020-05-30 2020-08-25 晋江市阳光汽车配件有限公司 Long-rod thread rolling and feeding single-arm double-manipulator

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